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A shape-shifting robot with diverse configurations, named "AMOEBA-I" has been developed for search and rescue tasks. The accessibility of this robot to uneven environments was efficiently enlarged by changing its configurations. In this paper, for optimizing the path of the robot through an environment containing static polygonal obstacles, we present an adaptive path planning method for...
An autonomous control system is developed for a shape-shifting robot "AMOEBA-I" to be possibly used in the urban terrain. Based on the sensors including GPS, electronic compass, inclinometer and encoder, the autonomous motions of AMOEBA-I are realized. The shape-shifting motion, navigation, obstacle-climbing motion, and obstacle avoidance are all autonomously performed in unstructured environments...
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